907 lines
42 KiB
Plaintext
907 lines
42 KiB
Plaintext
/home/paulh/.local/lib/python3.10/site-packages/matplotlib/projections/__init__.py:63: UserWarning: Unable to import Axes3D. This may be due to multiple versions of Matplotlib being installed (e.g. as a system package and as a pip package). As a result, the 3D projection is not available.
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warnings.warn("Unable to import Axes3D. This may be due to multiple versions of "
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Gym has been unmaintained since 2022 and does not support NumPy 2.0 amongst other critical functionality.
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Please upgrade to Gymnasium, the maintained drop-in replacement of Gym, or contact the authors of your software and request that they upgrade.
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Users of this version of Gym should be able to simply replace 'import gym' with 'import gymnasium as gym' in the vast majority of cases.
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See the migration guide at https://gymnasium.farama.org/introduction/migration_guide/ for additional information.
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[22:55:56] ============================================================
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[22:55:56] Exp 29: wave4-trial-0009 fine-tune on generated track
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[22:55:56] Sim: localhost:9091 -> donkey-generated-track-v0
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[22:55:56] Warm model: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/wave4-trial-0009/model.zip
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[22:55:56] Action space: continuous Box (no discretization)
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[22:55:56] LR=5e-05, total=50,000, checkpoint every 5,000
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[22:55:56] After training: zero-shot eval on donkey-minimonaco-track-v0
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[22:55:56] ============================================================
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[22:55:56] Connecting to sim...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: [33mWARN: Box low's precision lowered by casting to float32, current low.dtype=float64[0m
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gym.logger.warn(
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/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: [33mWARN: Box high's precision lowered by casting to float32, current high.dtype=float64[0m
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gym.logger.warn(
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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[22:55:56] obs=(3, 120, 160), action=Box([-1. 0.2], 1.0, (2,), float32)
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[22:55:56] Loading warm-start model from wave4-trial-0009...
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/home/paulh/.local/lib/python3.10/site-packages/stable_baselines3/common/utils.py:166: UserWarning: get_schedule_fn() is deprecated, please use FloatSchedule() instead
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warnings.warn("get_schedule_fn() is deprecated, please use FloatSchedule() instead")
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/home/paulh/.local/lib/python3.10/site-packages/stable_baselines3/common/utils.py:212: UserWarning: constant_fn() is deprecated, please use ConstantSchedule() instead
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warnings.warn("constant_fn() is deprecated, please use ConstantSchedule() instead")
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[22:55:59] Warm model loaded. action=Box([-1. 0.2], 1.0, (2,), float32) LR=5e-05
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[22:55:59] ============================================================
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[22:55:59] Exp 29 started — PID 1263940
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[22:55:59] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/run_2026-05-06_225559_wave4_finetune.log
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[22:55:59] Warm start: wave4-trial-0009 | LR=5e-05
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[22:55:59] Track: donkey-generated-track-v0 | continuous actions
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[22:55:59] ============================================================
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---------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 41 |
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| iterations | 1 |
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| time_elapsed | 49 |
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| total_timesteps | 110592 |
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---------------------------------
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----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 30 |
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| iterations | 2 |
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| time_elapsed | 134 |
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| total_timesteps | 112640 |
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| train/ | |
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| approx_kl | 0.15397084 |
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| clip_fraction | 0.504 |
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| clip_range | 0.2 |
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| entropy_loss | -2.27 |
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| explained_variance | 0.364 |
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| learning_rate | 5e-05 |
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| loss | 8.65 |
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| n_updates | 540 |
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| policy_gradient_loss | 0.0492 |
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| std | 0.754 |
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| value_loss | 40.2 |
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----------------------------------------
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----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 28 |
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| iterations | 3 |
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| time_elapsed | 215 |
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| total_timesteps | 114688 |
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| train/ | |
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| approx_kl | 0.03846732 |
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| clip_fraction | 0.307 |
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| clip_range | 0.2 |
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| entropy_loss | -2.27 |
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| explained_variance | 0.593 |
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| learning_rate | 5e-05 |
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| loss | 4.59 |
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| n_updates | 550 |
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| policy_gradient_loss | 0.00024 |
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| std | 0.753 |
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| value_loss | 18.2 |
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----------------------------------------
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[23:00:17] [5,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0005000.zip
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[23:00:17] Reconnecting for fresh track layout...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:236: UserWarning: [33mWARN: Box low's precision lowered by casting to float32, current low.dtype=float64[0m
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gym.logger.warn(
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/home/paulh/.local/lib/python3.10/site-packages/gymnasium/spaces/box.py:306: UserWarning: [33mWARN: Box high's precision lowered by casting to float32, current high.dtype=float64[0m
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gym.logger.warn(
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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[23:00:28] Eval: gentrack=34.4r/279s ❌@279
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[23:00:28] NEW BEST: steps=279 reward=34.4
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---------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 54 |
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| iterations | 1 |
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| time_elapsed | 37 |
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| total_timesteps | 116736 |
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---------------------------------
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-----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 34 |
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| iterations | 2 |
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| time_elapsed | 117 |
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| total_timesteps | 118784 |
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| train/ | |
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| approx_kl | 0.026151573 |
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| clip_fraction | 0.286 |
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| clip_range | 0.2 |
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| entropy_loss | -2.27 |
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| explained_variance | 0.352 |
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| learning_rate | 5e-05 |
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| loss | 4.15 |
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| n_updates | 570 |
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| policy_gradient_loss | -0.0105 |
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| std | 0.752 |
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| value_loss | 8.84 |
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-----------------------------------------
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.23 seconds
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----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 31 |
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| iterations | 3 |
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| time_elapsed | 195 |
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| total_timesteps | 120832 |
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| train/ | |
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| approx_kl | 0.02167065 |
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| clip_fraction | 0.199 |
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| clip_range | 0.2 |
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| entropy_loss | -2.27 |
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| explained_variance | 0.586 |
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| learning_rate | 5e-05 |
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| loss | 1.44 |
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| n_updates | 580 |
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| policy_gradient_loss | -0.0274 |
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| std | 0.751 |
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| value_loss | 4.3 |
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----------------------------------------
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[23:04:32] [10,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0010000.zip
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[23:04:32] Reconnecting for fresh track layout...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.51 seconds
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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[23:04:45] Eval: gentrack=63.4r/463s ❌@463
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[23:04:45] NEW BEST: steps=463 reward=63.4
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---------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 55 |
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| iterations | 1 |
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| time_elapsed | 36 |
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| total_timesteps | 122880 |
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---------------------------------
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.93 seconds
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-----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 34 |
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| iterations | 2 |
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| time_elapsed | 119 |
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| total_timesteps | 124928 |
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| train/ | |
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| approx_kl | 0.016491085 |
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| clip_fraction | 0.151 |
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| clip_range | 0.2 |
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| entropy_loss | -2.25 |
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| explained_variance | 0.741 |
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| learning_rate | 5e-05 |
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| loss | 1.06 |
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| n_updates | 600 |
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| policy_gradient_loss | -0.0361 |
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| std | 0.746 |
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| value_loss | 2.46 |
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-----------------------------------------
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.21 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.93 seconds
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-----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 31 |
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| iterations | 3 |
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| time_elapsed | 196 |
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| total_timesteps | 126976 |
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| train/ | |
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| approx_kl | 0.021446671 |
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| clip_fraction | 0.204 |
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| clip_range | 0.2 |
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| entropy_loss | -2.25 |
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| explained_variance | 0.697 |
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| learning_rate | 5e-05 |
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| loss | 0.57 |
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| n_updates | 610 |
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| policy_gradient_loss | -0.036 |
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| std | 0.742 |
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| value_loss | 2.37 |
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-----------------------------------------
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[23:08:46] [15,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0015000.zip
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[23:08:46] Reconnecting for fresh track layout...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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[23:08:57] Eval: gentrack=33.1r/268s ❌@268
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.87 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.5 seconds
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---------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 59 |
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| iterations | 1 |
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| time_elapsed | 34 |
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| total_timesteps | 129024 |
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---------------------------------
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.47 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.76 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.22 seconds
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-----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 38 |
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| iterations | 2 |
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| time_elapsed | 105 |
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| total_timesteps | 131072 |
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| train/ | |
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| approx_kl | 0.015673645 |
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| clip_fraction | 0.143 |
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| clip_range | 0.2 |
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| entropy_loss | -2.23 |
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| explained_variance | 0.581 |
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| learning_rate | 5e-05 |
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| loss | 0.689 |
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| n_updates | 630 |
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| policy_gradient_loss | -0.0369 |
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| std | 0.737 |
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| value_loss | 2.17 |
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-----------------------------------------
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.5 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.47 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.07 seconds
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-----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 34 |
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| iterations | 3 |
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| time_elapsed | 176 |
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| total_timesteps | 133120 |
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| train/ | |
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| approx_kl | 0.016333869 |
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| clip_fraction | 0.163 |
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| clip_range | 0.2 |
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| entropy_loss | -2.23 |
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| explained_variance | 0.526 |
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| learning_rate | 5e-05 |
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| loss | 0.683 |
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| n_updates | 640 |
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| policy_gradient_loss | -0.0348 |
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| std | 0.735 |
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| value_loss | 2.01 |
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-----------------------------------------
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[23:12:32] [20,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0020000.zip
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[23:12:32] Reconnecting for fresh track layout...
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INFO:gym_donkeycar.core.client:connecting to localhost:9091
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INFO:gym_donkeycar.envs.donkey_sim:on need car config
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INFO:gym_donkeycar.envs.donkey_sim:sending car config.
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INFO:gym_donkeycar.envs.donkey_sim:sim started!
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.91 seconds
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starting DonkeyGym env
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Setting default: start_delay 5.0
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Setting default: max_cte 8.0
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Setting default: frame_skip 1
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Setting default: cam_resolution (120, 160, 3)
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Setting default: log_level 20
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Setting default: steer_limit 1.0
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Setting default: throttle_min 0.0
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Setting default: throttle_max 1.0
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[23:12:45] Eval: gentrack=62.4r/450s ❌@450
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.96 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.58 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.28 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.38 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.18 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.32 seconds
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---------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 72 |
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| iterations | 1 |
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| time_elapsed | 28 |
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| total_timesteps | 135168 |
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---------------------------------
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.71 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.67 seconds
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----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 40 |
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| iterations | 2 |
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| time_elapsed | 100 |
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| total_timesteps | 137216 |
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| train/ | |
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| approx_kl | 0.02011627 |
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| clip_fraction | 0.181 |
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| clip_range | 0.2 |
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| entropy_loss | -2.21 |
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| explained_variance | 0.205 |
|
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| learning_rate | 5e-05 |
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| loss | 0.231 |
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| n_updates | 660 |
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| policy_gradient_loss | -0.0454 |
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| std | 0.728 |
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| value_loss | 0.893 |
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----------------------------------------
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.8 seconds
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INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.21 seconds
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-----------------------------------------
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| rollout/ | |
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| ep_len_mean | 216 |
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| ep_rew_mean | 158 |
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| time/ | |
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| fps | 35 |
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| iterations | 3 |
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| time_elapsed | 171 |
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| total_timesteps | 139264 |
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| train/ | |
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| approx_kl | 0.019535454 |
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| clip_fraction | 0.203 |
|
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| clip_range | 0.2 |
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| entropy_loss | -2.2 |
|
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| explained_variance | 0.506 |
|
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| learning_rate | 5e-05 |
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| loss | 0.497 |
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| n_updates | 670 |
|
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| policy_gradient_loss | -0.0364 |
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| std | 0.726 |
|
||
| value_loss | 1.54 |
|
||
-----------------------------------------
|
||
[23:16:11] [25,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0025000.zip
|
||
[23:16:11] Reconnecting for fresh track layout...
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.99 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.13 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.56 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.6 seconds
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
[23:16:35] Eval: gentrack=203.3r/1317s ❌@1317
|
||
[23:16:35] NEW BEST: steps=1317 reward=203.3
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.74 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.22 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.52 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.2 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.18 seconds
|
||
---------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 67 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 30 |
|
||
| total_timesteps | 141312 |
|
||
---------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.53 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.34 seconds
|
||
-----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 42 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 97 |
|
||
| total_timesteps | 143360 |
|
||
| train/ | |
|
||
| approx_kl | 0.020319626 |
|
||
| clip_fraction | 0.189 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.19 |
|
||
| explained_variance | 0.2 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 0.163 |
|
||
| n_updates | 690 |
|
||
| policy_gradient_loss | -0.0378 |
|
||
| std | 0.723 |
|
||
| value_loss | 1.83 |
|
||
-----------------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.92 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.24 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.49 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.94 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.18 seconds
|
||
-----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 160 |
|
||
| total_timesteps | 145408 |
|
||
| train/ | |
|
||
| approx_kl | 0.027640326 |
|
||
| clip_fraction | 0.24 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.19 |
|
||
| explained_variance | 0.468 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 0.271 |
|
||
| n_updates | 700 |
|
||
| policy_gradient_loss | -0.0384 |
|
||
| std | 0.722 |
|
||
| value_loss | 1.49 |
|
||
-----------------------------------------
|
||
[23:19:47] [30,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0030000.zip
|
||
[23:19:47] Reconnecting for fresh track layout...
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.39 seconds
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
[23:20:00] Eval: gentrack=64.0r/440s ❌@440
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.8 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.74 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.0 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.81 seconds
|
||
---------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 64 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 31 |
|
||
| total_timesteps | 147456 |
|
||
---------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.62 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.41 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.12 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 18.01 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.88 seconds
|
||
----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 42 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 96 |
|
||
| total_timesteps | 149504 |
|
||
| train/ | |
|
||
| approx_kl | 0.01823772 |
|
||
| clip_fraction | 0.159 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.18 |
|
||
| explained_variance | 0.202 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 1.07 |
|
||
| n_updates | 720 |
|
||
| policy_gradient_loss | -0.0387 |
|
||
| std | 0.719 |
|
||
| value_loss | 2.17 |
|
||
----------------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.73 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.67 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.58 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.21 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.58 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.51 seconds
|
||
-----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 36 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 166 |
|
||
| total_timesteps | 151552 |
|
||
| train/ | |
|
||
| approx_kl | 0.023359878 |
|
||
| clip_fraction | 0.185 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.18 |
|
||
| explained_variance | 0.23 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 1.14 |
|
||
| n_updates | 730 |
|
||
| policy_gradient_loss | -0.0453 |
|
||
| std | 0.717 |
|
||
| value_loss | 1.55 |
|
||
-----------------------------------------
|
||
[23:23:34] [35,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0035000.zip
|
||
[23:23:34] Reconnecting for fresh track layout...
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.39 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.46 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.84 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.55 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.19 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.01 seconds
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
[23:24:06] Eval: gentrack=323.8r/2000s ✅
|
||
[23:24:06] NEW BEST: steps=2000 reward=323.8
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.43 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.17 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.72 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.03 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.67 seconds
|
||
---------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 64 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 31 |
|
||
| total_timesteps | 153600 |
|
||
---------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.74 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.52 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.76 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.74 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.48 seconds
|
||
-----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 38 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 107 |
|
||
| total_timesteps | 155648 |
|
||
| train/ | |
|
||
| approx_kl | 0.021391733 |
|
||
| clip_fraction | 0.181 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.16 |
|
||
| explained_variance | 0.202 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 0.583 |
|
||
| n_updates | 750 |
|
||
| policy_gradient_loss | -0.0397 |
|
||
| std | 0.711 |
|
||
| value_loss | 2.25 |
|
||
-----------------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.87 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.07 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.1 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.72 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.87 seconds
|
||
-----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 32 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 190 |
|
||
| total_timesteps | 157696 |
|
||
| train/ | |
|
||
| approx_kl | 0.023227856 |
|
||
| clip_fraction | 0.2 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.15 |
|
||
| explained_variance | 0.266 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 0.503 |
|
||
| n_updates | 760 |
|
||
| policy_gradient_loss | -0.0421 |
|
||
| std | 0.708 |
|
||
| value_loss | 1.82 |
|
||
-----------------------------------------
|
||
[23:27:59] [40,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0040000.zip
|
||
[23:27:59] Reconnecting for fresh track layout...
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.9 seconds
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
[23:28:12] Eval: gentrack=64.0r/450s ❌@450
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.63 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.51 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.73 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.39 seconds
|
||
---------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 64 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 31 |
|
||
| total_timesteps | 159744 |
|
||
---------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.34 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.42 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.69 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 12.78 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.86 seconds
|
||
-----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 37 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 108 |
|
||
| total_timesteps | 161792 |
|
||
| train/ | |
|
||
| approx_kl | 0.023146037 |
|
||
| clip_fraction | 0.197 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.14 |
|
||
| explained_variance | 0.262 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 0.563 |
|
||
| n_updates | 780 |
|
||
| policy_gradient_loss | -0.0403 |
|
||
| std | 0.706 |
|
||
| value_loss | 2.03 |
|
||
-----------------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.77 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.23 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.69 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 17.61 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.74 seconds
|
||
----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 30 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 202 |
|
||
| total_timesteps | 163840 |
|
||
| train/ | |
|
||
| approx_kl | 0.03328496 |
|
||
| clip_fraction | 0.232 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.14 |
|
||
| explained_variance | 0.233 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 0.465 |
|
||
| n_updates | 790 |
|
||
| policy_gradient_loss | -0.0427 |
|
||
| std | 0.703 |
|
||
| value_loss | 2.17 |
|
||
----------------------------------------
|
||
[23:32:20] [45,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0045000.zip
|
||
[23:32:20] Reconnecting for fresh track layout...
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.65 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.87 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.04 seconds
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
[23:32:40] Eval: gentrack=159.5r/1024s ❌@1024
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.11 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.01 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.25 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.55 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.94 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.19 seconds
|
||
---------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 66 |
|
||
| iterations | 1 |
|
||
| time_elapsed | 30 |
|
||
| total_timesteps | 165888 |
|
||
---------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.73 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.72 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.16 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.74 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.18 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.08 seconds
|
||
-----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 40 |
|
||
| iterations | 2 |
|
||
| time_elapsed | 101 |
|
||
| total_timesteps | 167936 |
|
||
| train/ | |
|
||
| approx_kl | 0.025306746 |
|
||
| clip_fraction | 0.23 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.13 |
|
||
| explained_variance | 0.199 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 0.368 |
|
||
| n_updates | 810 |
|
||
| policy_gradient_loss | -0.0487 |
|
||
| std | 0.7 |
|
||
| value_loss | 2.04 |
|
||
-----------------------------------------
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.59 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.44 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 12.94 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.89 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 15.51 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.5 seconds
|
||
-----------------------------------------
|
||
| rollout/ | |
|
||
| ep_len_mean | 216 |
|
||
| ep_rew_mean | 158 |
|
||
| time/ | |
|
||
| fps | 35 |
|
||
| iterations | 3 |
|
||
| time_elapsed | 173 |
|
||
| total_timesteps | 169984 |
|
||
| train/ | |
|
||
| approx_kl | 0.030002665 |
|
||
| clip_fraction | 0.239 |
|
||
| clip_range | 0.2 |
|
||
| entropy_loss | -2.12 |
|
||
| explained_variance | -0.0123 |
|
||
| learning_rate | 5e-05 |
|
||
| loss | 0.488 |
|
||
| n_updates | 820 |
|
||
| policy_gradient_loss | -0.0548 |
|
||
| std | 0.696 |
|
||
| value_loss | 1.09 |
|
||
-----------------------------------------
|
||
[23:36:23] [50,000/50,000] Checkpoint saved: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/checkpoint_0050000.zip
|
||
[23:36:23] Reconnecting for fresh track layout...
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.51 seconds
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
[23:36:37] Eval: gentrack=64.5r/440s ❌@440
|
||
[23:36:37] Training complete.
|
||
[23:36:37]
|
||
[23:36:37] ============================================================
|
||
[23:36:37] ZERO-SHOT EVAL: best_model on donkey-minimonaco-track-v0
|
||
[23:36:37] ============================================================
|
||
INFO:gym_donkeycar.core.client:connecting to localhost:9091
|
||
INFO:gym_donkeycar.envs.donkey_sim:on need car config
|
||
INFO:gym_donkeycar.envs.donkey_sim:sending car config.
|
||
INFO:gym_donkeycar.envs.donkey_sim:sim started!
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.38 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 13.61 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.37 seconds
|
||
starting DonkeyGym env
|
||
Setting default: start_delay 5.0
|
||
Setting default: max_cte 8.0
|
||
Setting default: frame_skip 1
|
||
Setting default: cam_resolution (120, 160, 3)
|
||
Setting default: log_level 20
|
||
Setting default: steer_limit 1.0
|
||
Setting default: throttle_min 0.0
|
||
Setting default: throttle_max 1.0
|
||
[23:36:58] ep1: 158.8r / 999s ❌ hit=none@999
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.27 seconds
|
||
[23:37:05] ep2: 46.7r / 338s ❌ hit=right_barrier_seg0@338
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.09 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.25 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.11 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.43 seconds
|
||
[23:37:23] ep3: 206.2r / 1286s ❌ hit=none@1286
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.74 seconds
|
||
[23:37:33] ep4: 63.8r / 444s ❌ hit=right_barrier_seg56@444
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 16.9 seconds
|
||
INFO:gym_donkeycar.envs.donkey_sim:New lap time: 14.1 seconds
|
||
[23:37:46] ep5: 108.0r / 700s ❌ hit=right_barrier_seg49@700
|
||
[23:37:46] Mean: 753 steps / 116.7 reward
|
||
[23:37:46] ✅ GENERALIZES
|
||
[23:37:46]
|
||
[23:37:46] Exp 29 complete.
|
||
[23:37:46] Log: /home/paulh/projects/donkeycar-rl-autoresearch/agent/models/exp29-wave4-finetune/run_2026-05-06_225559_wave4_finetune.log
|